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Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

© IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 2003, vol. 1, p. 989-994

IEEE

Author: García Campos, Rafael
Cufí i Solé, Xavier
Carreras Pérez, Marc
Ridao Rodríguez, Pere
Date: 2003
Abstract: This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented
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Citation: Garcia, R., Cufi, X., Carreras, M., i Ridao, P. (2003). Correction of shading effects in vision-based UUV localization. IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 1, 989-994. Recuperat 20 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1241721
ISBN: 0-7803-7736-2
ISSN: 1050-4729
Document access: http://hdl.handle.net/10256/2342
Language: eng
Publisher: IEEE
Collection: Articles publicats (D-ATC)
Is part of: © IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 2003, vol. 1, p. 989-994
Rights: Tots els drets reservats
Subject: Vehicles submergibles
Imatges -- Processament
Image processing
Submersibles
Title: Correction of shading effects in vision-based UUV localization
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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